A belt transport monitoring method and device based on laser ranging

Abstract

The present invention relates to a belt transport monitoring method and device based on laser ranging, and belongs to the field of coal mine transportation technology. S1: Set the initial value of the system parameter; S2: The sensor starts working according to the set parameters, and the sensor collects the distance data from the sensor to the belt; S3: Perform median average filtering on the sampled data; S4: Import the filtered data into the sequence, stop importing after the cumulative data reaches the set sample number, and calculate the correlation coefficient. When the obtained correlation coefficient is greater than or equal to the set sensitivity value, it is determined that the belt is in a coal-free transportation state, the sequence is reset, the number of triggers is reset, and data acquisition begins again; when the obtained correlation coefficient is less than the set sensitivity value, a trigger is recorded, the sequence is reset, and data is acquired again. When the number of triggers is greater than or equal to the set limit, it is determined that the belt is in a coal-carrying state. The present invention solves the problem that belt transport monitoring requires direct contact with coal blocks.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine transportation, and relates to a belt transportation monitoring method and device based on laser ranging. Background Art

[0002] Belt transport is the main mode of transporting coal in coal mines, and is widely used in various underground coal mines. The present invention mainly monitors the running state of underground transport belts, focusing on distinguishing the three states of belt stop, belt idling, and belt coal transport, and gives signals for different states of the transport belt to assist other equipment such as automatic spraying to operate effectively.

[0003] The current coal mine underground belt conveyor coal monitoring method uses a touch sensor that directly contacts the coal blocks, which is easily affected by the wind flow in the tunnel and produces false alarms. In addition, because it needs to collide with the coal blocks to generate signals, it is easy to cause equipment damage during application. Therefore, a contactless belt conveyor monitoring method and equipment are needed. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a belt transport monitoring method and device based on laser ranging.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A belt transport monitoring device based on laser ranging includes a laser ranging sensor;

[0007] The laser distance measuring sensor is arranged on a supporting frame;

[0008] The laser emission port of the laser distance measuring sensor is perpendicular to the belt.

[0009] A belt transport monitoring method based on laser ranging based on the belt transport monitoring device, the method comprising the following steps:

[0010] S1: Set the initial value of system parameters;

[0011] The initial parameters include the number of samples H, the lower limit of sensitivity μ, and the limit of the number of trigger times I;

[0012] Among them, the number of samples is used to set the number of distance data collected from the laser ranging sensor to the belt each time; the lower limit of sensitivity is used to set the threshold for changing the trigger high level; the number of triggers specifies the number of times the threshold is triggered to output a high level;

[0013] S2: After installing the sensor, turn on the switch, and the laser distance sensor starts to work according to the set parameters. If there are no set parameters, the default values ​​H=20, μ=0.15, I=3 are used. The laser distance sensor collects the distance data from the sensor to the belt.

[0014] S3: When collecting the distance from the laser ranging sensor to the belt, the sampled data needs to be processed by median average filtering;

[0015] Median average filtering is to continuously sample N data, then arrange the N sampling values ​​in order of size, remove a maximum value and a minimum value, and take the arithmetic mean of the middle N-2 data as the final data to eliminate random errors that occur occasionally;

[0016] S4: Import the filtered data into sequence X. When the accumulated data reaches the sample number H, stop importing and calculate the correlation coefficient δ:

[0017]

[0018] where h i is the i-th element in the sequence X, is the expectation of each element in the sequence X;

[0019] When the obtained correlation coefficient δ is greater than or equal to the set sensitivity value μ, it means that the correlation is high at this time, and it is determined that the belt is in a state without coal transportation. The sequence is reset to zero, the number of triggers is reset to zero, and data acquisition starts again; when the obtained correlation coefficient δ is less than the set sensitivity value μ, it means that the correlation is low at this time, one trigger is recorded, the sequence is reset to zero, and data is acquired again; when the number of triggers is greater than or equal to the limit value I, it is determined that the belt is in a state with coal transportation.

[0020] The beneficial effects of the present invention are: solving the problem that belt transport monitoring requires direct contact with coal blocks, and having high sensitivity, strong anti-interference ability, and less influence by coal dust.

[0021] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be described in detail below in conjunction with the accompanying drawings, wherein:

[0023] Figure 1 This is a working principle diagram of the device of the present invention;

[0024] Figure 2 is a flow chart of the method of the present invention;

[0025] Figure 3 is the power supply circuit diagram;

[0026] Figure 4 This is the circuit diagram of the remote control;

[0027] Figure 5 It is the control circuit diagram;

[0028] Figure 6 This is the external interface circuit diagram;

[0029] Figure 7 To display the circuit diagram;

[0030] Figure 8 For storing circuit diagrams;

[0031] Fig. 9 It is a communication circuit diagram. DETAILED DESCRIPTION

[0032] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the illustrations provided in the following embodiments only illustrate the basic concept of the present invention in a schematic manner, and the following embodiments and features in the embodiments can be combined with each other without conflict.

[0033] Among them, the drawings are only used for illustrative explanations, and they only represent schematic diagrams rather than actual pictures, and should not be understood as limitations on the present invention. In order to better illustrate the embodiments of the present invention, some parts of the drawings may be omitted, enlarged or reduced, and do not represent the size of actual products. For those skilled in the art, it is understandable that some well-known structures and their descriptions in the drawings may be omitted.

[0034] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "front", "rear", etc. indicate the orientation or position relationship, they are based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. Therefore, the terms describing the position relationship in the drawings are only used for illustrative purposes and cannot be understood as limiting the present invention. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0035] See also Figures 1 to 9The laser distance sensor is installed on the top plate or support frame, and the laser emission port is installed vertically to the belt. During normal operation, the laser distance sensor measures the distance from the laser distance sensor to the belt and stores it. When the belt is in a state of no coal movement and stopped, the distance measurement data shows a relatively regular data change; when the belt is transporting coal, the fluctuation of the distance measurement data will become larger. By analyzing the distance measurement data, it can be concluded whether the belt is in a state of coal movement at this time.

[0036] The idea of ​​the algorithm is to analyze and process the distance measurement data of the same measuring point at different times, to determine whether the distance measurement data of the measuring point at this time has a large correlation, and then to determine the state of the measuring point at this time. After many field surveys, it was found that when the belt is in a stopped state and there is no coal, the data obtained at the measuring point has a large correlation; on the contrary, when the belt is in a coal transportation state, the correlation is lower.

[0037] The first step is to set the initial values ​​of system parameters;

[0038] The initial parameters include the number of samples, the lower limit of sensitivity, the number of triggers, etc. The number of samples is used to set the number of distance data collected from the laser ranging sensor to the belt each time; the lower limit of sensitivity is used to set the threshold for changing the trigger high level; the number of triggers specifies the number of times the threshold is triggered to output a high level.

[0039] The second step is to install the sensor, turn on the switch, and the laser distance sensor starts working according to the set parameters (if there is no setting, use the default value: H = 20, μ = 0.15, I = 3). The laser distance sensor collects the distance data from the sensor to the belt.

[0040] The third step is to perform median average filtering on the sampled data when collecting the distance from the laser ranging sensor to the belt. Median average filtering is to continuously sample N data, then arrange the N sampled values ​​by size, remove the maximum value and the minimum value, and take the arithmetic mean of the middle N-2 data as the final data, further eliminating the random errors that occur occasionally.

[0041] The fourth step is to import the filtered data into the sequence X. When the cumulative data reaches the sample size H, the import is stopped and the correlation coefficient δ is calculated:

[0042]

[0043] where h i is the i-th element in the sequence X, is the expectation of each element in the sequence X.

[0044] When the obtained correlation coefficient δ is greater than or equal to the set sensitivity value μ, it means that the correlation is high at this time, and the belt is judged to be in a state without coal transportation. The sequence is reset to zero, the number of triggers is reset to zero, and data acquisition starts again; when the obtained correlation coefficient δ is less than the set sensitivity value μ, it means that the correlation is low at this time, one trigger is recorded, the sequence is reset to zero, and data is acquired again. When the number of triggers is greater than or equal to the limit value I, it is judged that the belt is in a state with coal transportation.

[0045] Calculation example: Take the sample number H = 20 and the sensitivity value μ = 0.15 as an example. The sample data is collected on site. X1 is the belt idling, X2 is the belt transporting coal, and X3 is the belt stopping. The unit is centimeters (cm):

[0046] X1=[202.27,199.36,201.89,198.34,201.53,200.79,199.91,199.85,200.79,201.4 3,200.45,201.09,198.89,199.31,198.31,199.87,201.26,200.01,199.51,202.28]

[0047] δ1=0.0876<μ;

[0048] X2=[188.02,183.85,190.87,186.77,198.21,194.92,185.17,181.51,192.97,197.2 9,189.99,192.57,183.69,197.17,190.79,190.96,192.22,181.66,180.25,200.07]

[0049] δ2=0.2239>μ;

[0050] X3=[199.82,199.93,200.04,200.30,199.94,200.44,200.08,200.43,200.15,200.0 6,200.01,200.10,199.78,200.11,200.46,200.26,200.31,199.93,199.72,199.64]

[0051] δ3=0.0087<μ;

[0052] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the purpose and scope of the technical solution, which should be included in the scope of the claims of the present invention.

Claims

1. A belt transport monitoring method based on a belt transport monitoring device, characterized in that: The belt transport monitoring device includes a laser distance measuring sensor; The laser distance measuring sensor is arranged on a supporting frame; The laser emission port of the laser distance measuring sensor is perpendicular to the belt; The method comprises the following steps: S1: Set the initial value of system parameters; The initial parameters include the number of samples H, the lower limit of sensitivity μ, and the limit of the number of trigger times I; Among them, the number of samples is used to set the number of distance data collected from the laser ranging sensor to the belt each time; the lower limit of sensitivity is used to set the threshold for changing the trigger high level; the number of triggers specifies the number of times the threshold is triggered to output a high level; S2: After installing the sensor, turn on the switch, and the laser distance sensor starts to work according to the set parameters. If there are no set parameters, the default values ​​H=20, μ=0.15, I=3 are used. The laser distance sensor collects the distance data from the sensor to the belt. S3: When collecting the distance from the laser ranging sensor to the belt, the sampled data needs to be processed by median average filtering; Median average filtering is to continuously sample N data, then arrange the N sampling values ​​in order of size, remove a maximum value and a minimum value, and take the arithmetic mean of the middle N-2 data as the final data to eliminate random errors that occur occasionally; S4: Import the filtered data into sequence X. Stop importing when the accumulated data reaches the sample size H, and calculate the correlation coefficient δ: where h i is the i-th element in the sequence X, is the expectation of each element in the sequence X; When the obtained correlation coefficient δ is greater than or equal to the set sensitivity lower limit μ, it means that the correlation is high at this time, and it is determined that the belt is in a coal-free transportation state. The sequence is cleared, the number of triggers is cleared, and data acquisition starts again; when the obtained correlation coefficient δ is less than the set sensitivity lower limit μ, it means that the correlation is low at this time, one trigger is recorded, the sequence is cleared, and data is acquired again; when the number of triggers is greater than or equal to the limit I, it is determined that the belt is in a coal transportation state.

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